version: 66.06 glider: 523 mission: 4 dive: 384 start: 6 4 113 16 31 28 data: $ID,523 $MISSION,4 $DIVE,384 $D_SURF,3 $D_FLARE,3 $D_TGT,450 $D_ABORT,520 $D_NO_BLEED,200 $D_BOOST,0 $D_FINISH,0 $D_PITCH,0 $D_SAFE,0 $D_CALL,0 $SURFACE_URGENCY,0 $SURFACE_URGENCY_TRY,0 $SURFACE_URGENCY_FORCE,0 $T_DIVE,166 $T_MISSION,180 $T_ABORT,1440 $T_TURN,225 $T_TURN_SAMPINT,5 $T_NO_W,120 $T_LOITER,0 $USE_BATHY,0 $USE_ICE,0 $ICE_FREEZE_MARGIN,0.30000001 $D_OFFGRID,100 $T_WATCHDOG,10 $RELAUNCH,1 $APOGEE_PITCH,-5 $MAX_BUOY,140 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,51859 $NAV_MODE,1 $FERRY_MAX,45 $KALMAN_USE,2 $HD_A,0.0038360001 $HD_B,0.010078 $HD_C,9.8500004e-06 $HEADING,-1 $ESCAPE_HEADING,0 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,2118.95 $TGT_DEFAULT_LON,-15758 $TGT_AUTO_DEFAULT,0 $SM_CC,285 $N_FILEKB,4 $FILEMGR,0 $CALL_NDIVES,1 $COMM_SEQ,0 $KERMIT,0 $N_NOCOMM,1 $N_NOSURFACE,0 $UPLOAD_DIVES_MAX,1 $CALL_TRIES,5 $CALL_WAIT,60 $CAPUPLOAD,0 $CAPMAXSIZE,100000 $HEAPDBG,0 $T_GPS,15 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-43513.344 $T_RSLEEP,1 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,70 $PITCH_MAX,3840 $C_PITCH,2690 $PITCH_DBAND,0.1 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $PITCH_GAIN,30 $PITCH_TIMEOUT,16 $PITCH_AD_RATE,175 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,217 $ROLL_MAX,3847 $ROLL_DEG,40 $C_ROLL_DIVE,1957 $C_ROLL_CLIMB,1980 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,24 $R_STBD_OVSHOOT,27 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,440 $VBD_MAX,3960 $C_VBD,2900 $VBD_DBAND,2 $VBD_CNV,-0.245296 $VBD_TIMEOUT,720 $PITCH_VBD_SHIFT,0.0012300001 $VBD_PUMP_AD_RATE_SURFACE,4 $VBD_PUMP_AD_RATE_APOGEE,4 $VBD_BLEED_AD_RATE,8 $UNCOM_BLEED,20 $VBD_MAXERRORS,1 $CF8_MAXERRORS,20 $AH0_24V,150 $AH0_10V,100 $MINV_24V,19 $MINV_10V,8 $FG_AHR_10V,0 $FG_AHR_24V,0 $PHONE_SUPPLY,2 $PRESSURE_YINT,-44.423622 $PRESSURE_SLOPE,0.00011597706 $AD7714Ch0Gain,128 $TCM_PITCH_OFFSET,0 $TCM_ROLL_OFFSET,0 $COMPASS_USE,0 $ALTIM_BOTTOM_PING_RANGE,0 $ALTIM_TOP_PING_RANGE,0 $ALTIM_BOTTOM_TURN_MARGIN,0 $ALTIM_TOP_TURN_MARGIN,0 $ALTIM_TOP_MIN_OBSTACLE,1 $ALTIM_PING_DEPTH,80 $ALTIM_PING_DELTA,5 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,4 $XPDR_VALID,2 $XPDR_INHIBIT,90 $INT_PRESSURE_SLOPE,0.0097660003 $INT_PRESSURE_YINT,0.30000001 $DEEPGLIDER,0 $DEEPGLIDERMB,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,83 $DEVICE4,-1 $DEVICE5,-1 $DEVICE6,-1 $LOGGERS,0 $LOGGERDEVICE1,-1 $LOGGERDEVICE2,-1 $COMPASS_DEVICE,33 $COMPASS2_DEVICE,-1 $PHONE_DEVICE,48 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0042940481 $SEABIRD_T_H,0.00062789384 $SEABIRD_T_I,2.2877364e-05 $SEABIRD_T_J,2.3382993e-06 $SEABIRD_C_G,-10.032345 $SEABIRD_C_H,1.1112347 $SEABIRD_C_I,0.0036120038 $SEABIRD_C_J,-0.00017978948 $GPS1,162134,2108.055,-15801.020,43,0.8,43,9.8 $_CALLS,2 $_XMS_NAKs,4 $_XMS_TOUTs,0 $_SM_DEPTHo,1.43 $_SM_ANGLEo,-72.0 $GPS2,163111,2108.052,-15801.002,19,1.0,19,9.8 $SPEED_LIMITS,0.157,0.244 $TGT_NAME,D_EAST $TGT_LATLONG,2105.814,-15742.918 $TGT_RADIUS,2000.000 $KALMAN_CONTROL,0.000,0.000 $KALMAN_X,0.0,0.0,0.0,0.0,0.0 $KALMAN_Y,0.0,0.0,0.0,0.0,0.0 $MHEAD_RNG_PITCHd_Wd,87.8,31520,-17.3,-9.036 $D_GRID,450 $GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors $STATE,12,end surface,CONTROL_FINISHED_OK $STATE,12,begin dive $GC,16,-0.75,-136.3,0.0,0.0,0,88,0.00,0.00,-69.62,0.000,2,0.000,0.000,45,1975,3384,0,0,0,0,0,0 $GC,91,-0.75,-136.3,3.2,-4.5,11,113,9.65,2.33,-1.60,0.000,4,0.225,0.072,2437,553,3459,0,0,0,0,0,0 $GC,194,-0.75,-136.3,25.6,-13.4,29,201,0.00,2.20,0.00,0.000,6,0.000,0.036,2429,1964,3460,0,0,0,0,0,0 $GC,364,-0.75,-136.3,52.3,-15.8,60,371,0.00,2.30,0.00,0.000,4,0.000,0.056,2429,547,3460,0,0,0,0,0,0 $GC,386,-0.75,-136.3,55.4,-14.9,63,392,0.00,2.15,0.00,0.000,6,0.000,0.036,2419,1959,3460,0,0,0,0,0,0 $GC,721,-0.75,-136.3,102.0,-10.5,109,726,0.10,2.30,0.00,0.000,4,0.177,0.054,2445,544,3460,0,0,0,0,0,0 $GC,752,-0.75,-136.3,105.0,-10.1,111,756,0.00,2.15,0.00,0.000,6,0.000,0.034,2436,1961,3461,0,0,0,0,0,0 $GC,1079,-0.75,-136.3,139.0,-10.2,141,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1961,3462,0,0,0,0,0,0 $GC,1397,-0.75,-136.3,171.2,-10.6,171,1401,0.00,2.28,0.00,0.000,4,0.000,0.051,2436,546,3462,0,0,0,0,0,0 $GC,1581,-0.75,-136.3,191.5,-10.0,187,1585,0.00,2.12,0.00,0.000,6,0.000,0.033,2428,1959,3463,0,0,0,0,0,0 $GC,1918,-0.75,-136.3,221.3,-8.1,207,1922,0.00,2.28,0.00,0.000,4,0.000,0.052,2428,536,3463,0,0,0,0,0,0 $GC,1974,-0.75,-136.3,226.0,-7.8,209,1980,0.10,2.15,0.00,0.000,6,0.172,0.034,2444,1959,3463,0,0,0,0,0,0 $GC,2292,-0.75,-136.3,248.9,-8.2,225,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1960,3462,0,0,0,0,0,0 $GC,2599,-0.75,-136.3,273.5,-7.8,240,2603,0.00,2.20,0.00,0.000,4,0.000,0.051,2436,3362,3463,0,0,0,0,0,0 $GC,2644,-0.75,-136.3,277.1,-7.4,242,2648,0.00,2.22,0.00,0.000,6,0.000,0.041,2435,1948,3463,0,0,0,0,0,0 $GC,2968,-0.75,-136.3,300.5,-7.3,258,2972,0.00,2.22,0.00,0.000,4,0.000,0.055,2436,542,3463,0,0,0,0,0,0 $GC,3215,-0.75,-136.3,317.1,-6.4,263,3219,0.00,2.12,0.00,0.000,6,0.000,0.033,2427,1962,3462,0,0,0,0,0,0 $GC,3554,-0.75,-136.3,340.7,-6.7,272,3558,0.00,2.25,0.00,0.000,4,0.000,0.055,2427,552,3462,0,0,0,0,0,0 $GC,3655,-0.75,-136.3,348.2,-7.6,274,3660,0.10,2.15,0.00,0.000,6,0.170,0.035,2446,1965,3462,0,0,0,0,0,0 $GC,4005,-0.75,-136.3,368.4,-5.3,283,4009,0.00,2.28,0.00,0.000,4,0.000,0.058,2446,551,3460,0,0,0,0,0,0 $GC,4195,-0.75,-136.3,378.4,-5.1,287,4199,0.00,2.15,0.00,0.000,6,0.000,0.038,2438,1954,3459,0,0,0,0,0,0 $GC,4510,-0.75,-136.3,391.9,-4.0,295,4514,0.00,2.28,0.00,0.000,4,0.000,0.061,2438,550,3456,0,0,0,0,0,0 $GC,4678,-0.75,-136.3,399.4,-4.7,298,4683,0.00,2.17,0.00,0.000,6,0.000,0.040,2430,1960,3455,0,0,0,0,0,0 $GC,5010,-0.75,-136.3,416.5,-5.4,307,5014,0.00,2.30,0.00,0.000,4,0.000,0.061,2430,546,3453,0,0,0,0,0,0 $GC,5205,-0.75,-136.3,428.4,-6.2,311,5210,0.00,2.20,0.00,0.000,6,0.000,0.041,2420,1966,3451,0,0,0,0,0,0 $STATE,5423,end dive,HALF_MISSION_TIME_EXCEEDED $STATE,5423,begin apogee $GC,5430,-0.17,0.0,437.4,4.0,317,5546,0.65,0.00,110.85,0.766,6,0.113,0.000,2630,1966,2900,0,0,0,0,0,0 $STATE,5546,end apogee,CONTROL_FINISHED_OK $STATE,5547,begin climb $GC,5550,0.75,136.3,436.2,0.0,320,5675,0.85,2.40,117.22,0.739,4,0.057,0.056,2936,3385,2343,0,0,0,0,0,0 $GC,5725,0.75,136.3,413.5,16.7,324,5729,0.00,2.30,0.00,0.000,6,0.000,0.046,2945,1983,2340,0,0,0,0,0,0 $GC,6039,0.75,136.3,358.4,17.9,332,6043,0.00,2.30,0.00,0.000,4,0.000,0.067,2956,569,2334,0,0,0,0,0,0 $GC,6145,0.75,136.3,339.7,17.6,334,6149,0.00,2.20,0.00,0.000,6,0.000,0.042,2956,1980,2332,0,0,0,0,0,0 $GC,6459,0.75,136.3,286.1,15.6,344,6463,0.00,2.25,0.00,0.000,4,0.000,0.060,2956,3389,2330,0,0,0,0,0,0 $GC,6694,0.75,136.3,245.8,16.1,354,6700,0.12,2.25,0.00,0.000,6,0.166,0.051,2934,1979,2329,0,0,0,0,0,0 $GC,7010,0.75,136.3,207.8,11.8,370,7014,0.00,2.25,0.00,0.000,4,0.000,0.059,2933,3386,2328,0,0,0,0,0,0 $GC,7107,0.75,136.3,195.1,14.1,376,7111,0.00,2.20,0.00,0.000,6,0.000,0.041,2942,1963,2327,0,0,0,0,0,0 $GC,7435,0.75,136.3,152.2,12.8,406,7439,0.00,2.22,0.00,0.000,4,0.000,0.060,2952,566,2327,0,0,0,0,0,0 $GC,7477,0.75,136.3,146.0,13.9,409,7485,0.00,2.22,0.00,0.000,6,0.000,0.041,2952,1977,2326,0,0,0,0,0,0 $GC,7806,0.75,136.3,104.6,11.2,440,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1977,2326,0,0,0,0,0,0 $GC,8133,0.75,136.3,70.9,9.7,480,8141,0.00,2.22,0.00,0.000,4,0.000,0.053,2952,3390,2326,0,0,0,0,0,0 $GC,8384,0.75,136.3,44.6,11.1,526,8391,0.08,2.22,0.00,0.000,6,0.126,0.044,2935,1982,2327,0,0,0,0,0,0 $GC,8713,0.75,136.3,15.4,9.6,587,8720,0.00,2.25,0.00,0.000,4,0.000,0.055,2935,3386,2327,0,0,0,0,0,0 $GC,8755,0.75,136.3,11.1,10.4,594,8763,0.00,2.22,0.00,0.000,6,0.000,0.044,2943,1980,2327,0,0,0,0,0,0 $STATE,8839,end climb,SURFACE_DEPTH_REACHED $STATE,8839,begin surface coast $FINISH,0.5,1.013244 $STATE,8869,end surface coast,CONTROL_FINISHED_OK $STATE,8869,begin surface $SM_CCo,8886,67.45,0.441,0,0,1737,285.03 $SM_GC,1.49,0.00,0.00,67.45,0.000,0.000,0.441,37,1973,1737,-8.29,0.48,285.03 $IRIDIUM_FIX,2054.83,-15802.06,290802,161629 $TT8_MAMPS,0.027612 $HUMID,63.58 $INTERNAL_PRESSURE,9.40191 $TCM_TEMP,24.50 $XPDR_PINGS,1 $24V_AH,24.6,31.522 $10V_AH,10.4,34.598 $FG_AHR_24Vo,0.000 $FG_AHR_10Vo,0.000 $DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2 $DEVICE_SECS,19.075,80.325,228.075,67.450,0.000,55.748,80.432,236.665,18.250,0.000,19.881,1155.308,5268.996,389.159,2091.363,625.297,0.000,1110.001,0.000,2038.518,0.000,118.971,0.000 $DEVICE_MAMPS,225.498,72.098,766.233,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,417.093,348.971,1185.262,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355584 $DATA_FILE_SIZE,34924,614 $CAP_FILE_SIZE,100632,0 $CFSIZE,260165632,236883968 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,040613,190147,2108.271,-15759.646,25,1.0,25,9.8